Design and Experimental Validation of an LPV Pure Pursuit Automatic Steering Controller

This paper addresses the problem of designing control systems for steering an autonomous vehicle, varying speed, ensuring stability and sustaining performance, taking into account comfort safety. A novel automatic lateral architecture is proposed combining Linear Parameter Varying (LPV) theory Pure-Pursuit algorithm. The response robust controller investigated tracking a reference trajectory. implementation based on reduction polytopic LPV model. In addition, to illustrate results, synthesized has been tested first in simulations, then automated electric Renault Zoe test track providing encouraging results.